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piper_sim

EN

ubuntu

ROS STATE
ros Pass

1 gazebo仿真

1.1 piper gazebo仿真(有夹爪)

gazebo仿真运行

cd piper_ros
source devel/setup.bash
roslaunch piper_gazebo piper_gazebo.launch

通过rviz_gui控制有夹爪机械臂(新终端运行)

cd piper_ros
source devel/setup.bash
roslaunch piper_description display_gripper_urdf.launch

1.2 piper gazebo仿真(无夹爪)

gazebo仿真运行

cd piper_ros
source devel/setup.bash
roslaunch piper_gazebo piper_no_gripper_gazebo.launch

通过rviz_gui控制无夹爪机械臂(新终端运行)

cd piper_ros
source devel/setup.bash
roslaunch piper_description display_no_gripper_urdf.launch

piper_gazebo中,可以通过以下话题控制机械臂运动

其中/joint_states为多关节同时控制，其他话题直接控制单关节

原理：通过joint_states_ctrl节点将/joint_states控制信息转换为/piper_description/joint1_position_controller/command等八个关节的控制信息，实现gazebo仿真机械臂控制 注：/joint_states的joint7直接联动控制joint7和joint8，所以/joint_states的joint8不参与控制

/joint_states
/gazebo/joint1_position_controller/command
/gazebo/joint2_position_controller/command
/gazebo/joint3_position_controller/command
/gazebo/joint4_position_controller/command
/gazebo/joint5_position_controller/command
/gazebo/joint6_position_controller/command
/gazebo/joint7_position_controller/command
/gazebo/joint8_position_controller/command

2 mujoco仿真

2.1 mujoco210和mujoco-py的安装

2.1.1 安装mujoco

1、下载mujoco210

2、解压

mkdir ~/.mujoco
cd (压缩包所在目录)
tar -zxvf mujoco210-linux-x86_64.tar.gz -C ~/.mujoco

3、添加环境变量

echo "export LD_LIBRARY_PATH=~/.mujoco/mujoco210/bin:\$LD_LIBRARY_PATH" >> ~/.bashrc
source ~/.bashrc

4、测试

cd ~/.mujoco/mujoco210/bin
./simulate ../model/humanoid.xml

2.1.2 安装mujoco-py

1、下载源码

git https://github.com/openai/mujoco-py.git

2、安装(这一步可以在conda环境中进行)

cd ~/mujoco-py
pip3 install -U 'mujoco-py<2.2,>=2.1'
pip3 install -r requirements.txt
pip3 install -r requirements.dev.txt
python3 setup.py install
sudo apt install libosmesa6-dev
sudo apt install patchelf

3、添加环境变量

echo "export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib/nvidia" >> ~/.bashrc
source ~/.bashrc

4、测试

import mujoco_py
import os
mj_path = mujoco_py.utils.discover_mujoco()
xml_path = os.path.join(mj_path, 'model', 'humanoid.xml')
model = mujoco_py.load_model_from_path(xml_path)
sim = mujoco_py.MjSim(model)
print(sim.data.qpos)
sim.step()
print(sim.data.qpos)

2.2 piper mujoco仿真(有夹爪)

mujoco仿真运行

cd piper_ros
source devel/setup.bash
roslaunch piper_mujoco piper_mujoco.launch

通过rviz_gui控制有夹爪机械臂(新终端运行)

cd piper_ros
source devel/setup.bash
roslaunch piper_description display_gripper_urdf.launch

2.3 piper mujoco仿真(无夹爪)

mujoco仿真运行

cd piper_ros
source devel/setup.bash
roslaunch piper_mujoco piper_no_gripper_mujoco.launch

通过rviz_gui控制无夹爪机械臂(新终端运行)

cd piper_ros
source devel/setup.bash
roslaunch piper_description display_no_gripper_urdf.launch

控制参数介绍

有夹爪控制参数

无夹爪控制参数

  • damping="100 更改关节阻尼

  • kp="10000" 更改关节控制增益

  • forcerange="-100 100" 更改关节控制力矩 (将forcelimited="false"调整为true 然后在后面添加forcerange="-100 100")

PID控制demo